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      <h1 class="p_Heading1" style="page-break-after: avoid;"><span class="f_Heading1">7 - Input Gains</span></h1>

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<p class="p_Normal" style="margin: 0px 0px 0px 23px;">These are the principal tuning parameters together with the high pass filters (6). Values ranges are quite broad and depend on platform performance.</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Longitudinal-Pitch</span></p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>“Acc X.”: This is the gain used for the input signal longitudinal acceleration. A value of 9.81 corresponds to a factor 1 to vehicle model accelerations. Increasing it, &nbsp;higher value are passed to the MCA and processed. Typically for a fixed value of the high pass filter cut-off frequency “Acc X HP” the “Acc X.” is chosen in order to exploit at the maximum the longitudinal working area.</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
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<th style="vertical-align:middle; width:433px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Parameter name</span></p>
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<th style="vertical-align:middle; width:700px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Value</span></p>
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<td style="vertical-align:middle; width:433px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Acc X for passenger car</span></p>
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<td style="vertical-align:middle; width:700px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">5.0 / 10.0</p>
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<td style="vertical-align:middle; width:433px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Acc X for race car</span></p>
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<td style="vertical-align:middle; width:700px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">3.0 / 8.0</p>
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<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>“Vel Pitch .”: This is the gain used for the input signal pitch velocity. Similarly to the previous one it is used in combination with the high pass filter cut-off frequency “Vel Pitch HP”. &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
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<th style="vertical-align:middle; width:433px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Parameter name</span></p>
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<th style="vertical-align:middle; width:700px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Value</span></p>
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<td style="vertical-align:middle; width:433px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Vel Pitch</span></p>
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<td style="vertical-align:middle; width:700px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">0.3 / 1.0</p>
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<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Lateral-Roll</span></p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>“Acc Y.”: This is the gain used for the input signal lateral acceleration. A value of 9.81 corresponds to a factor 1 to vehicle model accelerations. Increasing it, &nbsp;higher value are passed to the MCA and processed. Typically for a fixed value of the high pass filter cut-off frequency “Acc Y HP” the “Acc Y.” is chosen in order to exploit at the maximum the lateral working area.</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
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<th style="vertical-align:middle; width:433px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Parameter name</span></p>
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<th style="vertical-align:middle; width:700px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Value</span></p>
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<td style="vertical-align:middle; width:433px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Acc Y for passenger car</span></p>
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<td style="vertical-align:middle; width:700px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">4.0 / 8.0</p>
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<td style="vertical-align:middle; width:433px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Acc Y for race car</span></p>
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<td style="vertical-align:middle; width:700px; height:35px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">2.0 / 6.0</p>
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<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>“Vel Roll.”: This is the gain used for the input signal roll velocity. Similarly to the previous one it is used in combination with the high pass filter cut-off frequency “Vel Roll HP” .</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
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<th style="vertical-align:middle; width:433px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Parameter name</span></p>
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<th style="vertical-align:middle; width:700px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Value</span></p>
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<td style="vertical-align:middle; width:433px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Vel Roll</span></p>
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<td style="vertical-align:middle; width:700px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">0.3 / 1.0</p>
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<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Longitudinal-Pitch and Lateral-Roll Common Parameters</span></p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>“Tilt”: Gains for tilt coordination (use pitch and roll angles for providing the driver a “sense” of linear acceleration) used in combination with the low pass filter frequency cut-off “Tilt [LP]” . Setting it to zero, tilt coordination is absent.</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
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<th style="vertical-align:middle; width:433px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Parameter name</span></p>
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<th style="vertical-align:middle; width:700px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Value</span></p>
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<td style="vertical-align:middle; width:433px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Tilt</span></p>
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<td style="vertical-align:middle; width:700px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">0.0 / 1.0</p>
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<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">It's recommended to start using the platform with setting &quot;Tilt&quot;=0.0.</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>“NL Gain”: this parameter is used to reduce some annoying effect due to high pass filtering that typically occurs if the differences from the platform and the virtual vehicle accelerations are too big. Non linear parameter is used when the driver feels more road disturbances than direct actions on the platform. The bigger the value of the parameter, the more the high frequency component are scaled in presence of steady ones.</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
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<th style="vertical-align:middle; width:433px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Parameter name</span></p>
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<th style="vertical-align:middle; width:700px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Value</span></p>
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<td style="vertical-align:middle; width:433px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">NL Gain</span></p>
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<td style="vertical-align:middle; width:700px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">0.0 / 2.0</p>
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<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Yaw</span></p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>“Vel Yaw”: This is the gain used for the input signal yaw velocity. A value of 1 corresponds to reproduce the vehicle model velocity. Typically a value of 1 is used and &nbsp;“Vel Yaw HP&quot; is chosen in order to exploit at the maximum the working area.</p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
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<th style="vertical-align:middle; width:433px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Parameter name</span></p>
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<th style="vertical-align:middle; width:700px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Value</span></p>
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<td style="vertical-align:middle; width:433px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Vel Yaw</span></p>
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<td style="vertical-align:middle; width:700px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">0.0 / 1.0</p>
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<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p class="p_Normal" style="margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Vertical</span></p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>“Acc Z.”: This is the gain used for the input signal vertical acceleration. A value of 9.81 corresponds to a factor 1 to vehicle model accelerations. Increasing it, &nbsp;higher value are passed to the MCA and processed. Typically for a fixed value of the high pass filter cut-off frequency “Acc Z HP” the “Acc Z.” is chosen in order to exploit at the maximum the vertical working area. </p><p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
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<th style="vertical-align:middle; width:433px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Parameter name</span></p>
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<th style="vertical-align:middle; width:700px; height:33px; background-color:#99ccff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;"><span style="font-size: 8pt; font-weight: bold;">Value</span></p>
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<td style="vertical-align:middle; width:433px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: left; margin: 0px 0px 0px 23px;"><span style="font-weight: bold;">Acc Z</span></p>
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<td style="vertical-align:middle; width:700px; height:33px; background-color:#ffffff; padding:0px; border:solid thin #000000;"><p style="text-align: center; margin: 0px 0px 0px 23px;">1.0 / 5.0</p>
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<p class="p_Normal" style="margin: 0px 0px 0px 23px;">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 23px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>“Acc Z.HF”: This is the second gain used for the input signal vertical acceleration. It is used in combination with a greater value of &quot;Acc Z HP HF:&quot; to improve the feeling &nbsp;of road disturbances for the driver.</p>
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